MRI-guided prostate motion tracking by means of multislice-to-volume registration

We developed an algorithm for tracking prostate motion during MRI-guided prostatic needle placement, with the primary application in prostate biopsy. Our algorithm has been tested on simulated patient and phantom data. The algorithm features a robust automatic restart and a 12-core biopsy error validation scheme. Simulation tests were performed on four patient MRI pre-operative volumes. Three orthogonal slices were extracted from the pre-operative volume to simulate the intra-operative volume and a volume of interest was defined to isolate the prostate. Phantom tests used six datasets, each representing the phantom at a known perturbed position. These volumes were registered to their corresponding reference volume (the phantom at its home position). Convergence tests on the phantom data showed that the algorithm demonstrated accurate results at 100% confidence level for initial misalignments of less than 5mm and at 73% confidence level for initial misalignments less than 10mm. Our algorithm converged in 95% of the cases for the simulated patient data with 0.66mm error and the six phantom registration tests resulted in 1.64mm error.